00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2009, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Eitan Marder-Eppstein 00036 *********************************************************************/ 00037 #ifndef ACTIONLIB__SERVER__SERVICE_SERVER_H_ 00038 #define ACTIONLIB__SERVER__SERVICE_SERVER_H_ 00039 00040 #include <actionlib/action_definition.h> 00041 #include <actionlib/server/action_server.h> 00042 00043 #include <string> 00044 00045 namespace actionlib 00046 { 00047 00048 class ServiceServerImp 00049 { 00050 public: 00051 ServiceServerImp() {} 00052 virtual ~ServiceServerImp() {} 00053 }; 00054 00055 class ServiceServer 00056 { 00057 public: 00058 ServiceServer(boost::shared_ptr<ServiceServerImp> server) 00059 : server_(server) {} 00060 00061 private: 00062 boost::shared_ptr<ServiceServerImp> server_; 00063 }; 00064 00065 template<class ActionSpec> 00066 ServiceServer advertiseService(ros::NodeHandle n, std::string name, 00067 boost::function<bool(const typename ActionSpec::_action_goal_type::_goal_type &, 00068 typename ActionSpec::_action_result_type::_result_type & result)> service_cb); 00069 00070 template<class ActionSpec> 00071 class ServiceServerImpT : public ServiceServerImp 00072 { 00073 public: 00074 // generates typedefs that we'll use to make our lives easier 00075 ACTION_DEFINITION(ActionSpec); 00076 00077 typedef typename ActionServer<ActionSpec>::GoalHandle GoalHandle; 00078 00079 ServiceServerImpT(ros::NodeHandle n, std::string name, 00080 boost::function<bool(const Goal &, Result & result)> service_cb); 00081 void goalCB(GoalHandle g); 00082 00083 private: 00084 boost::shared_ptr<ActionServer<ActionSpec> > as_; 00085 boost::function<bool(const Goal &, Result & result)> service_cb_; 00086 }; 00087 00088 } // namespace actionlib 00089 00090 // include the implementation 00091 #include <actionlib/server/service_server_imp.h> 00092 #endif // ACTIONLIB__SERVER__SERVICE_SERVER_H_